yostlabs 2025.1.16__py3-none-any.whl

yostlabs/tss3/api.py

@@ -0,0 +1,1712 @@
+from yostlabs.tss3.consts import *
+from yostlabs.communication.base import ThreespaceInputStream, ThreespaceOutputStream, ThreespaceComClass
+from yostlabs.communication.serial import ThreespaceSerialComClass
+
+from enum import Enum
+from dataclasses import dataclass, field
+from typing import TypeVar, Generic
+import struct
+import types
+import inspect
+import time
+import math
+
+
+#For converting from internal format specifiers to struct module specifiers
+__3space_format_conversion_dictionary = {
+    'f': {"c": 'f', "size": 4},
+    'd' : {"c": 'd', "size": 8},
+
+    'b' : {"c": 'B', "size": 1},
+    'B' : {"c": 'H', "size": 2},
+    "u" : {"c": 'L', "size": 4},
+    "U" : {"c": 'Q', "size": 8},
+
+    "i" : {"c": 'b', "size": 1},
+    "I" : {"c": 'h', "size": 2},
+    "l" : {"c": 'l', "size": 4},
+    "L" : {"c": 'q', "size": 8},
+
+    #Strings actually don't convert, they need handled special because
+    #struct unpack assumes static length strings, whereas the sensors
+    #use variable length null terminated strings
+    "s" : {"c": 's', "size": float('nan')},
+    "S" : {"c": 's', "size": float('nan')}
+}
+
+def _3space_format_get_size(format_str: str):
+    size = 0
+    for c in format_str:
+        size += __3space_format_conversion_dictionary[c]["size"]
+    return size
+
+def _3space_format_to_external(format_str: str):
+    return ''.join(__3space_format_conversion_dictionary[c]['c'] for c in format_str)
+
+@dataclass
+class ThreespaceCommandInfo:
+    name: str
+    num: int
+    in_format: str
+    out_format: str
+
+    num_out_params: int = field(init=False)
+    out_size: int = field(init=False,)
+
+    def __post_init__(self):
+        self.num_out_params = len(self.out_format)
+        self.out_size = _3space_format_get_size(self.out_format)
+
+class ThreespaceCommand:
+
+    BINARY_START_BYTE = 0xf7
+    BINARY_START_BYTE_HEADER = 0xf9
+
+    def __init__(self, name: str, num: int, in_format: str, out_format: str):
+        self.info = ThreespaceCommandInfo(name, num, in_format, out_format)
+        self.in_format = _3space_format_to_external(self.info.in_format)
+        self.out_format = _3space_format_to_external(self.info.out_format)
+
+    def format_cmd(self, *args, header_enabled=False):
+        cmd_data = struct.pack("<B", self.info.num)
+        for i, c in enumerate(self.in_format):
+            if c != 's':
+                cmd_data += struct.pack(f"<{c}", args[i])
+            else:
+                cmd_data += struct.pack(f"<{len(args[i])}sb", bytes(args[i], 'ascii'), 0)
+        checksum = sum(cmd_data) % 256
+        start_byte = ThreespaceCommand.BINARY_START_BYTE_HEADER if header_enabled else ThreespaceCommand.BINARY_START_BYTE
+        return struct.pack(f"<B{len(cmd_data)}sB", start_byte, cmd_data, checksum)
+
+    def send_command(self, com: ThreespaceOutputStream, *args, header_enabled = False):
+        cmd = self.format_cmd(*args, header_enabled=header_enabled)
+        com.write(cmd)
+
+    #Read the command result from an already read buffer. This will modify the given buffer to remove
+    #that data as well
+    def parse_response(self, response: bytes):
+        if self.info.num_out_params == 0: return None
+        output = []
+        
+        if math.isnan(self.info.out_size): #Has strings in it, must slow parse
+            for c in self.out_format:
+                if c != 's':
+                    format_str = f"<{c}"
+                    size = struct.calcsize(format_str)
+                    output.append(struct.unpack(format_str, response[:size])[0])
+                    #TODO: Switch to using numpy views instead of slicing
+                    response = response[size:]
+                else: #Strings are special, find the null terminator
+                    str_len = response.index(0)
+                    output.append(struct.unpack(f"<{str_len}s", response[str_len])[0])
+                    response = response[str_len + 1:] #+1 to skip past the null terminator character too
+        else: #Fast parse because no strings
+            output.extend(struct.unpack(f"<{self.out_format}", response[:self.info.out_size]))
+
+        
+        if self.info.num_out_params == 1:
+            return output[0]
+        return output
+
+    #Read the command dynamically from an input stream
+    def read_command(self, com: ThreespaceInputStream):
+        raw = bytearray([])
+        if self.info.num_out_params == 0: return None, raw
+        output = []
+        for c in self.out_format:
+            if c != 's':
+                format_str = f"<{c}"
+                size = struct.calcsize(format_str)
+                response = com.read(size)
+                raw += response
+                if len(response) != size:
+                    print(f"Failed to read {c} type. Aborting...")
+                    return None
+                output.append(struct.unpack(format_str, response)[0])
+            else: #Strings are special, find the null terminator
+                response = com.read(1)
+                raw += response
+                if len(response) != 1:
+                    print(f"Failed to read string. Aborting...")
+                    return None
+                byte = chr(response[0])
+                string = ""
+                while byte != '\0':
+                    string += byte
+                    #Get next byte
+                    response = com.read(1)
+                    raw += response
+                    if len(response) != 1:
+                        print(f"Failed to read string. Aborting...")
+                        return None
+                    byte = chr(response[0])
+                output.append(string)
+        
+        if self.info.num_out_params == 1:
+            return output[0], raw
+        return output, raw
+
+class ThreespaceGetStreamingBatchCommand(ThreespaceCommand):
+
+    def __init__(self, streaming_slots: list[ThreespaceCommand]):
+        self.commands = streaming_slots
+        combined_out_format = ''.join(slot.info.out_format for slot in streaming_slots if slot is not None)
+        super().__init__("getStreamingBatch", THREESPACE_GET_STREAMING_BATCH_COMMAND_NUM, "", combined_out_format)
+        self.out_format = ''.join(slot.out_format for slot in streaming_slots if slot is not None)
+
+    def set_stream_slots(self, streaming_slots: list[ThreespaceCommand]):
+        self.commands = streaming_slots
+        self.out_format = ''.join(slot.out_format for slot in streaming_slots if slot is not None)
+
+    def parse_response(self, response: bytes):
+        data = []
+        for command in self.commands:
+            if command is None: continue
+            cmd_response_size = command.info.out_size
+            data.append(command.parse_response(response))
+            response = response[cmd_response_size:]
+        
+        return data
+    
+    def read_command(self, com: ThreespaceInputStream):
+        #Get the response to all the streaming commands
+        response = []
+        raw_response = bytearray([])
+        for command in self.commands:
+            if command is None: continue
+            binary = com.read(command.info.out_size)
+            raw_response += binary
+            out = command.parse_response(binary)
+            response.append(out)
+        
+        return response, raw_response
+
+THREESPACE_HEADER_FORMAT_CHARS = ['b', 'L', 'B', 'B', 'L', 'H']
+
+@dataclass
+class ThreespaceHeaderInfo:
+    __bitfield: int = 0
+    format: str = ""
+    size: int = 0
+
+    def get_start_byte(self, header_field: int):
+        """
+        Given a header field, give the initial byte offset for that field when
+        using binary mode
+        """
+        if not header_field & self.__bitfield: return None #The bit is not enabled, no start byte
+        #Get the index of the bit
+        bit_pos = 0
+        header_field >>= 1
+        while header_field > 0:
+            bit_pos += 1
+            header_field >>= 1
+
+        #Add up the size of everything before this field
+        start = 0
+        for i in range(bit_pos):
+            if (1 << i) & self.__bitfield:
+                start += struct.calcsize(THREESPACE_HEADER_FORMAT_CHARS[i])
+        return start
+    
+    def get_index(self, header_field: int):
+        if not header_field & self.__bitfield: return None
+        index = 0
+        bit = 1
+        while bit < header_field:
+            if bit & self.__bitfield:
+                index += 1
+            bit <<= 1
+        return index
+
+    def __update(self):
+        self.format = "<"
+        for i in range(THREESPACE_HEADER_NUM_BITS):
+            if self.__bitfield & (1 << i):
+                self.format += THREESPACE_HEADER_FORMAT_CHARS[i]
+        self.size = struct.calcsize(self.format)
+
+    @property
+    def bitfield(self):
+        return self.__bitfield
+    
+    @bitfield.setter
+    def bitfield(self, value):
+        self.__bitfield = value
+        self.__update()
+    
+    @property
+    def status_enabled(self):
+        return bool(self.__bitfield & THREESPACE_HEADER_STATUS_BIT)
+    
+    @status_enabled.setter
+    def status_enabled(self, value: bool):
+        if value: self.__bitfield |= THREESPACE_HEADER_STATUS_BIT
+        else: self.__bitfield &= ~THREESPACE_HEADER_STATUS_BIT
+        self.__update()
+    
+    @property
+    def timestamp_enabled(self):
+        return bool(self.__bitfield & THREESPACE_HEADER_TIMESTAMP_BIT)
+    
+    @timestamp_enabled.setter
+    def timestamp_enabled(self, value: bool):
+        if value: self.__bitfield |= THREESPACE_HEADER_TIMESTAMP_BIT
+        else: self.__bitfield &= ~THREESPACE_HEADER_TIMESTAMP_BIT
+        self.__update()
+
+    @property
+    def echo_enabled(self):
+        return bool(self.__bitfield & THREESPACE_HEADER_ECHO_BIT)
+    
+    @echo_enabled.setter
+    def echo_enabled(self, value: bool):
+        if value: self.__bitfield |= THREESPACE_HEADER_ECHO_BIT
+        else: self.__bitfield &= ~THREESPACE_HEADER_ECHO_BIT
+        self.__update()       
+
+    @property
+    def checksum_enabled(self):
+        return bool(self.__bitfield & THREESPACE_HEADER_CHECKSUM_BIT)
+    
+    @checksum_enabled.setter
+    def checksum_enabled(self, value: bool):
+        if value: self.__bitfield |= THREESPACE_HEADER_CHECKSUM_BIT
+        else: self.__bitfield &= ~THREESPACE_HEADER_CHECKSUM_BIT     
+        self.__update()
+
+    @property
+    def serial_enabled(self):
+        return bool(self.__bitfield & THREESPACE_HEADER_SERIAL_BIT)
+    
+    @serial_enabled.setter
+    def serial_enabled(self, value: bool):
+        if value: self.__bitfield |= THREESPACE_HEADER_SERIAL_BIT
+        else: self.__bitfield &= ~THREESPACE_HEADER_SERIAL_BIT  
+        self.__update()
+
+    @property
+    def length_enabled(self):
+        return bool(self.__bitfield & THREESPACE_HEADER_LENGTH_BIT)
+    
+    @length_enabled.setter
+    def length_enabled(self, value: bool):
+        if value: self.__bitfield |= THREESPACE_HEADER_LENGTH_BIT
+        else: self.__bitfield &= ~THREESPACE_HEADER_LENGTH_BIT      
+        self.__update()              
+
+
+@dataclass
+class ThreespaceHeader:
+    raw: tuple = field(default=None, repr=False)
+
+    #Order here matters
+    status: int = None
+    timestamp: int = None
+    echo: int = None
+    checksum: int = None
+    serial: int = None
+    length: int = None
+
+    raw_binary: bytes = field(repr=False, default_factory=lambda: bytes([]))
+    info: ThreespaceHeaderInfo = field(default_factory=lambda: ThreespaceHeaderInfo(), repr=False)
+
+    @staticmethod
+    def from_tuple(data, info: ThreespaceHeaderInfo):
+        raw_expanded = []
+        cur_index = 0
+        for i in range(THREESPACE_HEADER_NUM_BITS):
+            if info.bitfield & (1 << i): 
+                raw_expanded.append(data[cur_index])
+                cur_index += 1
+            else:
+                raw_expanded.append(None)
+        return ThreespaceHeader(data, *raw_expanded, info=info)
+
+    @staticmethod
+    def from_bytes(byte_data: bytes, info: ThreespaceHeaderInfo):
+        if info.size == 0: return ThreespaceHeader()
+        header = ThreespaceHeader.from_tuple(struct.unpack(info.format, byte_data[:info.size]), info)
+        header.raw_binary = byte_data
+        return header
+
+    def __getitem__(self, key):
+        return self.raw[key]
+    
+    def __len__(self):
+        return len(self.raw)
+    
+    def __iter__(self):
+        return iter(self.raw)
+
+class StreamableCommands(Enum):
+    GetTaredOrientation = 0
+    GetTaredOrientationAsEuler = 1
+    GetTaredOrientationAsMatrix = 2
+    GetTaredOrientationAsAxisAngle = 3
+    GetTaredOrientationAsTwoVector = 4
+
+    GetDifferenceQuaternion = 5
+
+    GetUntaredOrientation = 6
+    GetUntaredOrientationAsEuler = 7
+    GetUntaredOrientationAsMatrix = 8
+    GetUntaredOrientationAsAxisAngle = 9
+    GetUntaredOrientationAsTwoVector = 10
+
+    GetTaredOrientationAsTwoVectorSensorFrame = 11
+    GetUntaredOrientationAsTwoVectorSensorFrame = 12
+
+    GetPrimaryBarometerPressure = 13
+    GetPrimaryBarometerAltitude = 14
+    GetBarometerAltitudeById = 15
+    GetBarometerPressureById = 16
+
+    GetAllPrimaryNormalizedData = 32
+    GetPrimaryNormalizedGyroRate = 33
+    GetPrimaryNormalizedAccelVec = 34
+    GetPrimaryNormalizedMagVec = 35
+    
+    GetAllPrimaryCorrectedData = 37
+    GetPrimaryCorrectedGyroRate = 38
+    GetPrimaryCorrectedAccelVec = 39
+    GetPrimaryCorrectedMagVec = 40
+
+    GetPrimaryGlobalLinearAccel = 41
+    GetPrimaryLocalLinearAccel = 42
+
+    GetTemperatureCelsius = 43
+    GetTemperatureFahrenheit = 44
+    GetMotionlessConfidenceFactor = 45
+
+    GetNormalizedGyroRate = 51
+    GetNormalizedAccelVec = 52
+    GetNormalizedMagVec = 53
+
+    GetCorrectedGyroRate = 54
+    GetCorrectedAccelVec = 55
+    GetCorrectedMagVec = 56
+
+    GetRawGyroRate = 65
+    GetRawAccelVec = 66
+    GetRawMagVec = 67
+
+    GetEeptsOldestStep = 70
+    GetEeptsNewestStep = 71
+    GetEeptsNumStepsAvailable = 72
+
+    GetTimestamp = 94
+
+    GetBatteryVoltage = 201
+    GetBatteryPercent = 202
+    GetBatteryStatus = 203
+
+    GetGpsCoord = 215
+    GetGpsAltitude = 216
+    GetGpsFixState = 217
+    GetGpsHdop = 218
+    GetGpsSattelites = 219
+
+    GetButtonState = 250
+
+THREESPACE_AWAIT_COMMAND_FOUND = 0
+THREESPACE_AWAIT_COMMAND_TIMEOUT = 1
+
+T = TypeVar('T')
+
+@dataclass
+class ThreespaceCmdResult(Generic[T]):
+    raw: tuple = field(default=None, repr=False)
+
+    header: ThreespaceHeader = None
+    data: T = None
+    raw_data: bytes = field(default=None, repr=False)
+
+    def __init__(self, data: T, header: ThreespaceHeader, data_raw_binary: bytes = None):
+        self.header = header
+        self.data = data
+        self.raw = (header.raw, data)
+        self.raw_data = data_raw_binary
+
+    def __getitem__(self, key):
+        return self.raw[key]
+    
+    def __len__(self):
+        return len(self.raw)
+    
+    def __iter__(self):
+        return iter(self.raw)   
+    
+    @property
+    def raw_binary(self):
+        bin = bytearray([])
+        if self.header is not None and self.header.raw_binary is not None:
+            bin += self.header.raw_binary
+        if self.raw_data is not None:
+            bin += self.raw_data
+        return bin
+
+@dataclass
+class ThreespaceBootloaderInfo:
+    memstart: int
+    memend: int
+    pagesize: int
+    bootversion: int
+
+#Required for the API to work. The API will attempt to keep these enabled at all times.
+THREESPACE_REQUIRED_HEADER = THREESPACE_HEADER_ECHO_BIT | THREESPACE_HEADER_CHECKSUM_BIT | THREESPACE_HEADER_LENGTH_BIT
+class ThreespaceSensor:
+    
+    def __init__(self, com = None, timeout=2):
+        if com is None: #Default to attempting to use the serial com class if none is provided
+            com = ThreespaceSerialComClass
+        
+        #Auto discover using the supplied com class type
+        if inspect.isclass(com) and issubclass(com, ThreespaceComClass):
+            new_com = None
+            for serial_com in com.auto_detect():
+                new_com = serial_com
+                break #Exit after getting 1
+            if new_com is None:
+                raise RuntimeError("Failed to auto discover com port")
+            self.com = new_com
+            self.com.open()
+        #The supplied com already was a com class, nothing to do
+        elif inspect.isclass(type(com)) and issubclass(type(com), ThreespaceComClass):
+            self.com = com
+        else: #Unknown type, try making a ThreespaceSerialComClass out of this
+            try:
+                self.com = ThreespaceSerialComClass(com)
+            except:
+                raise ValueError("Failed to create default ThreespaceSerialComClass from parameter:", type(com), com)
+
+        self.com.read_all() #Clear anything that may be there
+
+        self.commands: list[ThreespaceCommand] = [None] * 256
+        self.getStreamingBatchCommand: ThreespaceGetStreamingBatchCommand = None
+        self.funcs = {}
+        for command in _threespace_commands:
+            #Some commands are special and need added specially
+            if command.info.num == THREESPACE_GET_STREAMING_BATCH_COMMAND_NUM:
+                self.getStreamingBatchCommand = ThreespaceGetStreamingBatchCommand([])
+                command = self.getStreamingBatchCommand
+            
+            self.__add_command(command)
+
+        self.immediate_debug = False
+        self.misaligned = False
+        self.dirty_cache = False
+        self.header_enabled = True 
+
+        #All the different streaming options
+        self.is_data_streaming = False
+        self.is_log_streaming = False
+        self.is_file_streaming = False
+        self._force_stop_streaming()
+
+        #Used to ensure connecting to the correct sensor when reconnecting
+        self.serial_number = None
+
+        self.__cached_in_bootloader = self.__check_bootloader_status()
+        if not self.in_bootloader:
+            self.__firmware_init()
+        else:
+            self.serial_number = self.bootloader_get_sn()
+
+    def __firmware_init(self):
+        """
+        Should only be called when not streaming and known in firmware.
+        Called for powerup events when booting into firmware
+        """
+        self.dirty_cache = False #No longer dirty cause initializing
+
+        self.com.read_all() #Clear anything that may be there
+        
+        self.__reinit_firmware()
+        
+        self.valid_mags = self.__get_valid_components("valid_mags")
+        self.valid_accels = self.__get_valid_components("valid_accels")
+        self.valid_gyros = self.__get_valid_components("valid_gyros")
+        self.valid_baros = self.__get_valid_components("valid_baros")
+
+    def __get_valid_components(self, key: str):
+        valid = self.get_settings(key)
+        if len(valid) == 0: return []
+        return [int(v) for v in valid.split(',')]
+
+    def __reinit_firmware(self):
+        """
+        Called when settings may have changed but a full reboot did not occur
+        """
+        self.com.read_all() #Clear anything that may be there
+        self.dirty_cache = False #No longer dirty cause initializing
+        
+        self.header_info = ThreespaceHeaderInfo()
+        self.cmd_echo_byte_index = None
+        self.streaming_slots: list[ThreespaceCommand] = [None] * 16
+        self.streaming_packets: list[ThreespaceCmdResult[list]] = []
+
+        self.file_stream_data = bytearray([])
+        self.file_stream_length = 0
+
+        self.streaming_packet_size = 0
+        self.header_enabled = True
+        self._force_stop_streaming()
+
+        #Now reinitialize the cached settings
+        self.__cache_header_settings()
+        self.cache_streaming_settings()
+
+        self.serial_number = int(self.get_settings("serial_number"), 16)
+        self.immediate_debug = int(self.get_settings("debug_mode")) == 1 #Needed for some startup processes when restarting
+
+    def __add_command(self, command: ThreespaceCommand):
+        if self.commands[command.info.num] != None:
+            print(f"Registering duplicate command: {command.info.num} {self.commands[command.info.num].info.name} {command.info.name}")
+        self.commands[command.info.num] = command
+
+        #Build the actual method for executing the command
+        code = f"def {command.info.name}(self, *args):\n"
+        code += f"    return self.execute_command(self.commands[{command.info.num}], *args)"
+        exec(code, globals(), self.funcs)
+        setattr(self, command.info.name, types.MethodType(self.funcs[command.info.name], self))
+
+    def __get_command(self, command_name: str):
+        for command in self.commands:
+            if command is None: continue
+            if command.info.name == command_name:
+                return command
+        return None
+
+    @property
+    def is_streaming(self):
+        return self.is_data_streaming or self.is_log_streaming or self.is_file_streaming
+
+    #Can't just do if "header" in string because log_header_enabled exists and doesn't actually require cacheing the header
+    HEADER_KEYS = ["header", "header_status", "header_timestamp", "header_echo", "header_checksum", "header_serial", "header_length"]
+    def set_settings(self, param_string: str = None, **kwargs):
+        self.check_dirty()
+        #Build cmd string
+        params = []
+        if param_string is not None:
+            params.append(param_string)
+        
+        for key, value in kwargs.items():
+            if isinstance(value, list):
+                value = [str(v) for v in value]
+                value = ','.join(value)
+            elif isinstance(value, bool):
+                value = int(value)
+            params.append(f"{key}={value}")
+        cmd = f"!{';'.join(params)}\n"
+
+        #For dirty check
+        keys = cmd[1:-1].split(';')
+        keys = [v.split('=')[0] for v in keys]
+
+        #Send cmd
+        self.com.write(cmd.encode())
+
+        #Default values
+        err = 3
+        num_successes = 0
+
+        #Read response
+        if self.is_streaming: #Streaming have to read via peek and also validate it more
+            max_response_length = len("255,255\r\n")
+            found_response = False
+            start_time = time.time()
+            while not found_response: #Infinite loop to wait for the data to be available
+                if time.time() - start_time > self.com.timeout:
+                    print("Timed out waiting for set_settings response")
+                    return err, num_successes
+                line = ""
+                while True: #A loop used to allow breaking out of to be less wet.
+                    line = self.com.peekline(max_length=max_response_length)
+                    if b'\n' not in line:
+                        break
+                    
+                    try:
+                        values = line.decode().strip()
+                        values = values.split(',')
+                        if len(values) != 2: break
+                        err = int(values[0])
+                        num_successes = int(values[1])
+                    except: break
+                    if err > 255 or num_successes > 255:
+                        break
+
+                    #Successfully got pass all the checks!
+                    #Consume the buffer and continue
+                    found_response = True
+                    self.com.readline()
+                    break
+                if found_response: break
+                while not self.updateStreaming(max_checks=1): pass #Wait for streaming to parse something!
+        else:
+            #When not streaming, way more straight forward
+            try:
+                response = self.com.readline()
+                response = response.decode().strip()
+                err, num_successes = response.split(',')
+                err = int(err)
+                num_successes = int(num_successes)    
+            except:
+                print("Failed to parse set response:", response)
+                return err, num_successes
+        
+        #Handle updating state variables based on settings
+        #If the user modified the header, need to cache the settings so the API knows how to interpret responses
+        if "header" in cmd.lower(): #First do a quick check
+            if any(v in keys for v in ThreespaceSensor.HEADER_KEYS): #Then do a longer check
+                self.__cache_header_settings()
+        
+        if "stream_slots" in cmd.lower():
+            self.cache_streaming_settings()
+        
+        if any(v in keys for v in ("default", "reboot")): #All the settings changed, just need to mark dirty
+            self.set_cached_settings_dirty()
+
+        if err:
+            print(f"Err setting {cmd}: {err=} {num_successes=}")
+        return err, num_successes
+
+    def get_settings(self, *args: str) -> dict[str, str] | str:
+        self.check_dirty()
+        #Build and send the cmd
+        params = list(args)
+        cmd = f"?{';'.join(params)}\n"
+        self.com.write(cmd.encode())
+
+        keys = cmd[1:-1].split(';')
+        error_response = "<KEY_ERROR>"
+
+        #Wait for the response to be available if streaming
+        #NOTE: THIS WILL NOT WORK WITH SETTINGS SUCH AS ?all ?settings or QUERY STRINGS
+        #THIS can be worked around by first getting a setting that does echo normally, as that will allow
+        #the sensor to determine where the ascii data actually starts.
+        #Ex: get_settings("header", "all") would work
+        if self.is_streaming:
+            first_key = bytes(keys[0] + "=", 'ascii') #Add on the equals sign to try and make this less likely to conflict with binary data
+            possible_outputs = [(len(error_response), bytes(error_response, 'ascii')), (len(first_key), first_key)]
+            possible_outputs.sort() #Must try the smallest one first because if streaming is slow, may take a while for the data to fill pass the largest possible value
+            start_time = time.time()
+            while True:
+                if time.time() - start_time > self.com.timeout:
+                    print("Timeout parsing get response")
+                    return {}
+                found_response = False
+                for length, key in possible_outputs:
+                    possible_response = self.com.peek(length)
+                    if possible_response == key: #This the response, so break and parse
+                        found_response = True
+                        break
+                if found_response: break
+                while not self.updateStreaming(max_checks=1): pass #Wait for streaming to process something. May just advance due to invalid
+        
+        #Read the response
+        try:
+            response = self.com.readline()
+            if ord('\n') not in response:
+                print("Failed to get whole line")
+            response = response.decode().strip().split(';')
+        except:
+            print("Failed to parse get:", response)
+        
+        #Build the response dict
+        response_dict = {}
+        for i, v in enumerate(response):
+            if v == error_response:
+                response_dict[keys[i]] = error_response
+                continue
+            try:
+                key, value = v.split('=')
+                response_dict[key] = value
+            except:
+                print("Failed to parse get:", response)
+        
+        #Format response
+        if len(response_dict) == 1:
+            return list(response_dict.values())[0]
+        return response_dict
+
+    def execute_command(self, cmd: ThreespaceCommand, *args):
+        self.check_dirty()
+
+        retries = 0
+        MAX_RETRIES = 3
+
+        while retries < MAX_RETRIES:
+            cmd.send_command(self.com, *args, header_enabled=self.header_enabled)
+            result = self.__await_command(cmd)
+            if result == THREESPACE_AWAIT_COMMAND_FOUND:
+                break
+            retries += 1
+        
+        if retries == MAX_RETRIES:
+            raise RuntimeError(f"Failed to get response to command {cmd.info.name}")
+
+        return self.read_and_parse_command(cmd)
+    
+    def read_and_parse_command(self, cmd: ThreespaceCommand):
+        if self.header_enabled:
+            header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        else:
+            header = ThreespaceHeader()
+        result, raw = cmd.read_command(self.com)
+        return ThreespaceCmdResult(result, header, data_raw_binary=raw)
+
+    def __peek_checksum(self, header: ThreespaceHeader):
+        header_len = len(header.raw_binary)
+        data = self.com.peek(header_len + header.length)[header_len:]
+        if len(data) != header.length: return False
+        checksum = sum(data) % 256
+        return checksum == header.checksum
+
+    def __await_command(self, cmd: ThreespaceCommand, timeout=2):
+        start_time = time.time()
+
+        #Update the streaming until the result for this command is next in the buffer
+        while True:
+            if time.time() - start_time > timeout:
+                return THREESPACE_AWAIT_COMMAND_TIMEOUT
+            
+            #Get potential header
+            header = self.com.peek(self.header_info.size)
+            if len(header) != self.header_info.size: #Wait for more data
+                continue
+
+            #Check to see what this packet is a response to
+            header = ThreespaceHeader.from_bytes(header, self.header_info)
+            echo = header.echo
+
+            if echo == cmd.info.num: #Cmd matches
+                if self.__peek_checksum(header):
+                    return THREESPACE_AWAIT_COMMAND_FOUND
+                
+                #Error in packet, go start realigning
+                if not self.misaligned:
+                    print(f"Checksum mismatch for command {cmd.info.num}")
+                    self.misaligned = True
+                self.com.read(1)
+            else:
+                #It wasn't a response to the command, so may be a response to some internal system
+                self.__internal_update(header)
+
+    def __internal_update(self, header: ThreespaceHeader):
+        """
+        This should be called after a header is obtained via a command and it is determined that it can't
+        be in response to a synchronous command that got sent. This manages updating the streaming and realigning
+        the data buffer
+        """
+        checksum_match = False #Just for debugging
+
+        #NOTE: FOR THIS TO WORK IT IS REQUIRED THAT THE HEADER DOES NOT CHANGE WHILE STREAMING ANY FORM OF DATA.
+        #IT IS UP TO THE API TO ENFORCE NOT ALLOWING HEADER CHANGES WHILE ANY OF THOSE THINGS ARE HAPPENING
+        if self.is_data_streaming and header.echo == THREESPACE_GET_STREAMING_BATCH_COMMAND_NUM: #Its a streaming packet, so update streaming
+            if checksum_match := self.__peek_checksum(header):
+                self.__update_base_streaming()
+                return True
+        elif self.is_log_streaming and header.echo == THREESPACE_FILE_READ_BYTES_COMMAND_NUM:
+            if checksum_match := self.__peek_checksum(header):
+                self.__update_log_streaming()
+                return True
+        elif self.is_file_streaming and header.echo == THREESPACE_FILE_READ_BYTES_COMMAND_NUM:
+            if checksum_match := self.__peek_checksum(header):
+                self.__update_file_streaming()
+                return True
+
+        #The response didn't match any of the expected asynchronous streaming API responses, so assume a misalignment
+        #and start reading through the buffer
+        if not self.misaligned:
+            print(f"Possible Misalignment or corruption/debug message, header {header} raw {[hex(v) for v in header.raw_binary]}, Checksum match? {checksum_match}")
+            self.misaligned = True
+        self.com.read(1) #Because of expected misalignment, go through buffer 1 by 1 until realigned
+
+    def updateStreaming(self, max_checks=float('inf')):
+        """
+        Returns true if any amount of data was processed whether valid or not
+        """
+        if not self.is_streaming: return False
+
+        #I may need to make this have a max num bytes it will process before exiting to prevent locking up on slower machines
+        #due to streaming faster then the program runs
+        num_checks = 0
+        data_processed = False
+        while num_checks < max_checks:
+            if self.com.length < self.header_info.size:
+                return data_processed
+            
+            #Get header
+            header = self.com.peek(self.header_info.size)
+
+            #Get the header and send it to the internal update
+            header = ThreespaceHeader.from_bytes(header, self.header_info)
+            self.__internal_update(header)
+            data_processed = True #Internal update always processes data. Either reads a streaming message, or advances buffer due to misalignment
+            num_checks += 1
+        
+        return data_processed
+
+
+    def startStreaming(self):
+        if self.is_data_streaming: return
+        self.check_dirty()
+        self.streaming_packets.clear()
+
+        self.header_enabled = True
+
+        self.cache_streaming_settings()
+
+        cmd = self.commands[85]
+        cmd.send_command(self.com, header_enabled=self.header_enabled)
+        if self.header_enabled:
+            self.__await_command(cmd)
+            header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        else:
+            header = ThreespaceHeader()
+        self.is_data_streaming = True
+        return ThreespaceCmdResult(None, header)
+
+    def _force_stop_streaming(self):
+        """
+        This function is used to stop streaming without validating it was streaming and ignoring any output of the
+        communication line. This is a destructive call that will lose data, but will gurantee stopping streaming
+        and leave the communication line in a clean state
+        """
+        cached_header_enabled = self.header_enabled
+        cahched_dirty = self.dirty_cache
+
+        #Must set these to gurantee it doesn't try and parse a response from anything
+        self.dirty_cache = False
+        self.header_enabled = False #Keep off for the attempt at stop streaming since if in an invalid state, won't be able to get response
+        self.stopStreaming() #Just in case was streaming
+        self.fileStopStream()
+
+        #TODO: Change this to pause the data logging instead, then check the state and update
+        self.stopDataLogging()
+        
+        #Restore
+        self.header_enabled = cached_header_enabled
+        self.dirty_cache = cahched_dirty
+
+    def stopStreaming(self):
+        self.check_dirty()
+        cmd = self.commands[86]
+        cmd.send_command(self.com, header_enabled=self.header_enabled)
+        if self.header_enabled: #Header will be enabled while streaming, but this is useful for startup
+            self.__await_command(cmd)
+            header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        else:
+            header = ThreespaceHeader()
+        time.sleep(0.05)
+        while self.com.length:
+            self.com.read_all()
+        self.is_data_streaming = False
+        return ThreespaceCmdResult(None, header)
+
+    def set_cached_settings_dirty(self):
+        """
+        Could be streaming settings, header settings...
+        Basically the sensor needs reinitialized
+        """
+        self.dirty_cache = True
+
+    def __attempt_rediscover_self(self):
+        """
+        Trys to change the com class currently being used to be a detected
+        com class with the same serial number. Useful for re-enumeration, such as when
+        entering bootloader and using USB
+        """
+        for potential_com in self.com.auto_detect():
+            potential_com.open()
+            sensor = ThreespaceSensor(potential_com)
+            if sensor.serial_number == self.serial_number:
+                self.com = potential_com
+                return True
+            sensor.cleanup() #Handles closing the potential_com
+        return False
+
+    def check_dirty(self):
+        if not self.dirty_cache: return
+        if self.com.reenumerates and not self.com.check_open(): #Must check this, as could have transitioned from bootloader to firmware or vice versa and just needs re-opened/detected
+            success = self.__attempt_rediscover_self()
+            if not success:
+                raise RuntimeError("Sensor connection lost")
+        
+        self._force_stop_streaming() #Can't be streaming when checking the dirty cache. If you want to stream, don't do things that cause the object to go dirty.
+        was_in_bootloader = self.__cached_in_bootloader
+        self.__cached_in_bootloader = self.__check_bootloader_status()
+        
+        if was_in_bootloader and not self.__cached_in_bootloader: #Just Exited bootloader, need to fully reinit
+            self.__firmware_init()
+        elif not self.__cached_in_bootloader:   #Was already in firmware, so only need to partially reinit
+            self.__reinit_firmware()    #Partially init when just naturally dirty
+        self.dirty_cache = False
+
+    def cache_streaming_settings(self):
+        cached_slots: list[ThreespaceCommand] = []
+        slots: str = self.get_settings("stream_slots")
+        slots = slots.split(',')
+        for slot in slots:
+            slot = int(slot.split(':')[0]) #Ignore parameters if any
+            if slot != 255:
+                cached_slots.append(self.commands[slot])
+            else:
+                cached_slots.append(None)
+        self.streaming_slots = cached_slots.copy()
+        self.getStreamingBatchCommand.set_stream_slots(self.streaming_slots)
+        self.streaming_packet_size = 0
+        for command in self.streaming_slots:
+            if command == None: continue
+            self.streaming_packet_size += command.info.out_size
+
+    def __cache_header_settings(self):
+        """
+        Should be called any time changes are made to the header. Will normally be called via the check_dirty/reinit
+        """
+        header = int(self.get_settings("header"))
+        #API requires these bits to be enabled, so don't let them be disabled
+        required_header = header | THREESPACE_REQUIRED_HEADER
+        if header == self.header_info.bitfield and header == required_header: return #Nothing to update
+        
+        #Don't allow the header to change while streaming
+        #This is to prevent a situation where the header for streaming and commands are different
+        #since streaming caches the header. This would cause an issue where the echo byte could be in seperate
+        #positions, causing a situation where parsing a command and streaming at the same time breaks since it thinks both are valid cmd echoes.
+        if self.is_streaming:
+            print("PREVENTING HEADER CHANGE DUE TO CURRENTLY STREAMING")
+            self.set_settings(header=self.header_info.bitfield)
+            return
+        
+        if required_header != header:
+            print(f"Forcing header checksum, echo, and length enabled")
+            self.set_settings(header=required_header)
+            return
+        
+        #Current/New header is valid, so can cache it
+        self.header_info.bitfield = header
+        self.cmd_echo_byte_index = self.header_info.get_start_byte(THREESPACE_HEADER_ECHO_BIT) #Needed for cmd validation while streaming
+
+    def __update_base_streaming(self):
+        """
+        Should be called after the packet is validated
+        """
+        self.streaming_packets.append(self.read_and_parse_command(self.getStreamingBatchCommand))
+
+    def getOldestStreamingPacket(self):
+        if len(self.streaming_packets) == 0:
+            return None
+        return self.streaming_packets.pop(0)
+    
+    def getNewestStreamingPacket(self):
+        if len(self.streaming_packets) == 0:
+            return None
+        return self.streaming_packets.pop()   
+    
+    def clearStreamingPackets(self):
+        self.streaming_packets.clear()
+    
+    def fileStartStream(self) -> ThreespaceCmdResult[int]:
+        self.check_dirty()
+        self.header_enabled = True
+
+        cmd = self.__get_command("__fileStartStream")
+        cmd.send_command(self.com, header_enabled=self.header_enabled)
+        self.__await_command(cmd)
+        
+        if self.header_enabled:
+            header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        else:
+            header = ThreespaceHeader()
+
+        result, raw = cmd.read_command(self.com)
+        self.file_stream_length = result
+        self.is_file_streaming = True  
+
+        return ThreespaceCmdResult(result, header, data_raw_binary=raw)
+    
+    def fileStopStream(self) -> ThreespaceCmdResult[None]:
+        self.check_dirty()
+
+        cmd = self.__get_command("__fileStopStream")
+        cmd.send_command(self.com, header_enabled=self.header_enabled)
+
+        if self.header_enabled: #Header will be enabled while streaming, but this is useful for startup
+            self.__await_command(cmd)
+            header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        else:
+            header = ThreespaceHeader()
+        
+        #TODO: Remove me now that realignment exists and multiple things can be streaming at once
+        time.sleep(0.05)
+        while self.com.length:
+            self.com.read_all()
+
+        self.is_file_streaming = False
+        return ThreespaceCmdResult(None, header)
+
+    def getFileStreamData(self):
+        to_return = self.file_stream_data.copy()
+        self.file_stream_data.clear()
+        return to_return
+
+    def clearFileStreamData(self):
+        self.file_stream_data.clear()
+
+    def __update_file_streaming(self):
+        """
+        Should be called after the packet is validated
+        """
+        header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        data = self.com.read(header.length)
+        self.file_stream_data += data
+        self.file_stream_length -= header.length
+        if header.length < 512 or self.file_stream_length == 0: #File streaming sends in chunks of 512. If not 512, it must be the last packet
+            self.is_file_streaming = False
+            if self.file_stream_length != 0:
+                print(f"File streaming stopped due to last packet. However still expected {self.file_stream_length} more bytes.")
+
+    def startDataLogging(self) -> ThreespaceCmdResult[None]:
+        self.check_dirty()
+
+        self.header_enabled = True
+        self.cache_streaming_settings()
+
+        #Must check whether streaming is being done alongside logging or not. Also configure required settings if it is
+        streaming = bool(int(self.get_settings("log_immediate_output")))
+        if streaming:
+            self.set_settings(log_immediate_output_header_enabled=1,
+                                log_immediate_output_header_mode=THREESPACE_OUTPUT_MODE_BINARY) #Must have header enabled in the log messages for this to work and must use binary for the header
+        cmd = self.__get_command("__startDataLogging")
+        cmd.send_command(self.com, header_enabled=self.header_enabled)
+        if self.header_enabled:
+            self.__await_command(cmd)
+            header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        else:
+            header = ThreespaceHeader()
+
+        self.is_log_streaming = streaming 
+        return ThreespaceCmdResult(None, header)
+
+    def stopDataLogging(self) -> ThreespaceCmdResult[None]:
+        self.check_dirty()
+
+        cmd = self.__get_command("__stopDataLogging")
+        cmd.send_command(self.com, header_enabled=self.header_enabled)
+
+        if self.header_enabled: #Header will be enabled while streaming, but this is useful for startup
+            self.__await_command(cmd)
+            header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        else:
+            header = ThreespaceHeader()
+        #TODO: Remove me now that realignment exists and multiple things can be streaming at once
+        if self.is_log_streaming:
+            time.sleep(0.05)
+            while self.com.length:
+                self.com.read_all()
+
+        self.is_log_streaming = False
+        return ThreespaceCmdResult(None, header)
+
+    def __update_log_streaming(self):
+        """
+        Should be called after the packet is validated
+        Log streaming is essentially file streaming done as the file is recorded. So uses file
+        streaming logistics. Will update this later to also parse the response maybe.
+        """
+        header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        data = self.com.read(header.length)
+        self.file_stream_data += data
+
+    def softwareReset(self):
+        self.check_dirty()
+        cmd = self.commands[226]
+        cmd.send_command(self.com)
+        self.com.close()
+        time.sleep(0.5) #Give it time to restart
+        self.com.open()
+        if self.immediate_debug:
+            time.sleep(2) #An additional 2 seconds to ensure can clear all debug messages
+            self.com.read_all()
+        self.__firmware_init()
+
+    def enterBootloader(self):
+        if self.in_bootloader: return
+
+        cmd = self.commands[229]
+        cmd.send_command(self.com)
+        time.sleep(0.5) #Give it time to boot into bootloader
+        if self.com.reenumerates:
+            self.com.close()
+            success = self.__attempt_rediscover_self()
+            if not success:
+                raise RuntimeError("Failed to reconnect to sensor in bootloader")
+        in_bootloader = self.__check_bootloader_status()
+        if not in_bootloader:
+            raise RuntimeError("Failed to enter bootloader")
+        self.__cached_in_bootloader = True
+        self.com.read_all() #Just in case any garbage floating around
+
+
+    @property
+    def in_bootloader(self):
+        #This function should not be used internally when solving dirty checks
+        self.check_dirty() #If dirty, this we reobtain the value of __cached_in_bootloader.
+        return self.__cached_in_bootloader
+
+    def __check_bootloader_status(self):
+        """
+        Checks if in the bootloader via command. If wanting via cache, just check .in_bootloader
+        This function both updates .in_bootloader and returns the value
+        
+        Must not call this function while streaming. It is only used internally and should be able to meet these conditions
+        A user of this class should use .in_bootloader instead of this function        .
+
+        To check, ? is sent, the bootloader will respond with OK. However, to avoid needing to wait
+        for the timeout, we send a setting query at the same time. If the response is to the setting, in firmware,
+        else if ok, in bootloader. If times out, something funky is happening.
+        All bootloader commands are CAPITAL letters. Firmware commands are case insensitive. So as long as send no capitals, its fine.
+        """
+        #If sending commands over BT to the bootloader, it does an Auto Baudrate Detection
+        #for the BT module that requires sending 3 U's. This will respond with 1-2 OK responses if in bootloader.
+        #By then adding a ?UUU, that will trigger a <KEY_ERROR> if in firmware. So, can tell if in bootloader or firmware by checking for OK or <KEY_ERROR>
+        bootloader = False
+        self.com.write("UUU?UUU\n".encode())
+        response = self.com.read(2)
+        if len(response) == 0: 
+            raise RuntimeError("Failed to discover bootloader or firmware. Is the sensor a 3.0?")
+        if response == b'OK':
+            bootloader = True
+        self.com.read_all() #Remove the rest of the OK responses or the rest of the <KEY_ERROR> response
+        return bootloader
+    
+    def bootloader_get_sn(self):
+        self.com.write("Q".encode())
+        result = self.com.read(9) #9 Because it includes a line feed for reasons
+        if len(result) != 9:
+            raise Exception()
+        #Note bootloader uses big endian instead of little for reasons
+        return struct.unpack(f">{_3space_format_to_external('U')}", result[:8])[0]
+
+    def bootloader_boot_firmware(self):
+        if not self.in_bootloader: return
+        self.com.write("B".encode())
+        time.sleep(0.5) #Give time to boot into firmware
+        if self.com.reenumerates:
+            self.com.close()
+            success = self.__attempt_rediscover_self()
+            if not success:
+                raise RuntimeError("Failed to reconnect to sensor in firmware")
+        self.com.read_all() #If debug_mode=1, might be debug messages waiting
+        if self.immediate_debug:
+            print("Waiting longer before booting into firmware because immediate debug was enabled.")
+            time.sleep(2)
+            self.com.read_all()
+        in_bootloader = self.__check_bootloader_status()
+        if in_bootloader:
+            raise RuntimeError("Failed to exit bootloader")
+        self.__cached_in_bootloader = False
+        self.__firmware_init() 
+    
+    def bootloader_erase_firmware(self, timeout=20):
+        """
+        This may take a long time
+        """
+        self.com.write('S'.encode())
+        if timeout is not None:
+            cached_timeout = self.com.timeout
+            self.com.timeout = timeout
+        response = self.com.read(1)[0]
+        if timeout is not None:
+            self.com.timeout = cached_timeout
+        return response
+    
+    def bootloader_get_info(self):
+        self.com.write('I'.encode())
+        memstart = struct.unpack(f">{_3space_format_to_external('l')}", self.com.read(4))[0]
+        memend = struct.unpack(f">{_3space_format_to_external('l')}", self.com.read(4))[0]
+        pagesize = struct.unpack(f">{_3space_format_to_external('I')}", self.com.read(2))[0]
+        bootversion = struct.unpack(f">{_3space_format_to_external('I')}", self.com.read(2))[0]
+        return ThreespaceBootloaderInfo(memstart, memend, pagesize, bootversion)
+
+    def bootloader_prog_mem(self, bytes: bytearray):
+        memsize = len(bytes)
+        checksum = sum(bytes)
+        self.com.write('C'.encode())
+        self.com.write(struct.pack(f">{_3space_format_to_external('I')}", memsize))
+        self.com.write(bytes)
+        self.com.write(struct.pack(f">{_3space_format_to_external('B')}", checksum & 0xFFFF))
+        return self.com.read(1)[0]
+
+    def bootloader_get_state(self):
+        self.com.write('OO'.encode()) #O is sent twice to compensate for a bug in some versions of the bootloader where the next character is ignored (except for R, do NOT send R after O, it will erase all settings)
+        state = struct.unpack(f">{_3space_format_to_external('u')}", self.com.read(4))[0]
+        self.com.read_all() #Once the bootloader is fixed, it will respond twice instead of once. So consume any remainder
+        return state
+
+    def bootloader_restore_factory_settings(self):
+        self.com.write("RR".encode())
+
+    def cleanup(self):
+        if not self.in_bootloader:
+            if self.is_data_streaming:
+                self.stopStreaming()
+            if self.is_file_streaming:
+                self.fileStopStream()
+            if self.is_log_streaming:
+                self.stopDataLogging()
+            #self.closeFile() #May not be opened, but also not cacheing that so just attempt to close. Currently commented out because breaks embedded
+        self.com.close()
+
+#-------------------------START ALL PROTOTYPES------------------------------------
+
+    def eeptsStart(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")
+
+    def eeptsStop(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")    
+    
+    def eeptsGetOldestStep(self) -> ThreespaceCmdResult[list]:
+        raise NotImplementedError("This method is not available.")  
+
+    def eeptsGetNewestStep(self) -> ThreespaceCmdResult[list]:
+        raise NotImplementedError("This method is not available.")      
+
+    def eeptsGetNumStepsAvailable(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.")       
+
+    def eeptsInsertGPS(self, latitude: float, longitude: float) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")      
+       
+    def eeptsAutoOffset(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")    
+    
+    def getRawGyroRate(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getRawAccelVec(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getRawMagVec(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")   
+
+    def getTaredOrientation(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.") 
+
+    def getTaredOrientationAsEulerAngles(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")  
+                                    
+    def getTaredOrientationAsRotationMatrix(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getTaredOrientationAsAxisAngles(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getTaredOrientationAsTwoVector(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")  
+    
+    def getDifferenceQuaternion(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")   
+
+    def getUntaredOrientation(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")  
+
+    def getUntaredOrientationAsEulerAngles(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")  
+
+    def getUntaredOrientationAsRotationMatrix(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")  
+
+    def getUntaredOrientationAsAxisAngles(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")  
+
+    def getUntaredOrientationAsTwoVector(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")  
+    
+    def commitSettings(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")    
+
+    def getMotionlessConfidenceFactor(self) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.")
+    
+    def enableMSC(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")
+
+    def disableMSC(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")    
+    
+    def getNextDirectoryItem(self) -> ThreespaceCmdResult[list[int,str,int]]:    
+        raise NotImplementedError("This method is not available.")
+    
+    def changeDirectory(self, path: str) -> ThreespaceCmdResult[None]:    
+        raise NotImplementedError("This method is not available.")    
+
+    def openFile(self, path: str) -> ThreespaceCmdResult[None]:    
+        raise NotImplementedError("This method is not available.") 
+    
+    def closeFile(self) -> ThreespaceCmdResult[None]:    
+        raise NotImplementedError("This method is not available.")    
+
+    def fileGetRemainingSize(self) -> ThreespaceCmdResult[int]:    
+        raise NotImplementedError("This method is not available.")    
+
+    def fileReadLine(self) -> ThreespaceCmdResult[str]:    
+        raise NotImplementedError("This method is not available.")     
+
+    def fileReadBytes(self, num_bytes: int) -> ThreespaceCmdResult[bytes]:    
+        self.check_dirty()
+        cmd = self.commands[THREESPACE_FILE_READ_BYTES_COMMAND_NUM]
+        cmd.send_command(self.com, num_bytes, header_enabled=self.header_enabled)
+        self.__await_command(cmd)
+        if self.header_enabled:
+            header = ThreespaceHeader.from_bytes(self.com.read(self.header_info.size), self.header_info)
+        else:
+            header = ThreespaceHeader()
+
+        response = self.com.read(num_bytes)
+        return ThreespaceCmdResult(response, header, data_raw_binary=response)
+
+    def deleteFile(self, path: str) -> ThreespaceCmdResult[None]:    
+        raise NotImplementedError("This method is not available.") 
+
+    def getStreamingBatch(self):
+        raise NotImplementedError("This method is not available.")
+
+    def setOffsetWithCurrentOrientation(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")
+    
+    def resetBaseOffset(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")
+
+    def setBaseOffsetWithCurrentOrientation(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")    
+
+    def getTaredTwoVectorInSensorFrame(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")    
+
+    def getUntaredTwoVectorInSensorFrame(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")        
+
+    def getPrimaryBarometerPressure(self) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getPrimaryBarometerAltitude(self) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.")    
+
+    def getBarometerAltitude(self, id: int) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.")   
+    
+    def getBarometerPressure(self, id: int) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.")      
+
+    def getAllPrimaryNormalizedData(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getPrimaryNormalizedGyroRate(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getPrimaryNormalizedAccelVec(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getPrimaryNormalizedMagVec(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getAllPrimaryCorrectedData(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getPrimaryCorrectedGyroRate(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getPrimaryCorrectedAccelVec(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getPrimaryCorrectedMagVec(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")    
+    
+    def getPrimaryGlobalLinearAccel(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.") 
+
+    def getPrimaryLocalLinearAccel(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")         
+
+    def getTemperatureCelsius(self) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.") 
+    
+    def getTemperatureFahrenheit(self) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.")     
+
+    def getNormalizedGyroRate(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getNormalizedAccelVec(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getNormalizedMagVec(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")        
+
+    def getCorrectedGyroRate(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getCorrectedAccelVec(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def getCorrectedMagVec(self, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")        
+
+    def enableMSC(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")  
+    
+    def disableMSC(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")    
+
+    def getTimestamp(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.")  
+
+    def getBatteryVoltage(self) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.") 
+    
+    def getBatteryPercent(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.") 
+
+    def getBatteryStatus(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.")         
+
+    def getGpsCoord(self) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getGpsAltitude(self) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.") 
+
+    def getGpsFixState(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.") 
+
+    def getGpsHdop(self) -> ThreespaceCmdResult[float]:
+        raise NotImplementedError("This method is not available.") 
+
+    def getGpsSatellites(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.")                 
+
+    def getButtonState(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.")
+
+    def correctRawGyroData(self, x: float, y: float, z: float, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+    
+    def correctRawAccelData(self, x: float, y: float, z: float, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def correctRawMagData(self, x: float, y: float, z: float, id: int) -> ThreespaceCmdResult[list[float]]:
+        raise NotImplementedError("This method is not available.")
+
+    def formatSd(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")    
+
+    def setDateTime(self, year: int, month: int, day: int, hour: int, minute: int, second: int) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")
+
+    def getDateTime(self) -> ThreespaceCmdResult[list[int]]:
+        raise NotImplementedError("This method is not available.")  
+
+    def tareWithCurrentOrientation(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.") 
+    
+    def setBaseTareWithCurrentOrientation(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")     
+
+    def resetFilter(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getNumDebugMessages(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.")
+    
+    def getOldestDebugMessage(self) -> ThreespaceCmdResult[str]:
+        raise NotImplementedError("This method is not available.")
+    
+    def beginPassiveAutoCalibration(self, enabled_bitfield: int) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")
+
+    def getActivePassiveAutoCalibration(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.")
+
+    def beginActiveAutoCalibration(self) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")
+
+    def isActiveAutoCalibrationActive(self) -> ThreespaceCmdResult[int]:
+        raise NotImplementedError("This method is not available.")                
+    
+    def getStreamingLabel(self, cmd_num: int) -> ThreespaceCmdResult[str]:
+        raise NotImplementedError("This method is not available.")   
+
+    def setCursor(self, cursor_index: int) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.") 
+
+    def getLastLogCursorInfo(self) -> ThreespaceCmdResult[tuple[int,str]]:
+        raise NotImplementedError("This method is not available.")   
+
+    def pauseLogStreaming(self, pause: bool) -> ThreespaceCmdResult[None]:
+        raise NotImplementedError("This method is not available.")               
+
+THREESPACE_GET_STREAMING_BATCH_COMMAND_NUM = 84
+THREESPACE_FILE_READ_BYTES_COMMAND_NUM = 177
+
+#Acutal command definitions
+_threespace_commands: list[ThreespaceCommand] = [
+    #Tared Orientation
+    ThreespaceCommand("getTaredOrientation", 0, "", "ffff"),
+    ThreespaceCommand("getTaredOrientationAsEulerAngles", 1, "", "fff"),
+    ThreespaceCommand("getTaredOrientationAsRotationMatrix", 2, "", "fffffffff"),
+    ThreespaceCommand("getTaredOrientationAsAxisAngles", 3, "", "ffff"),
+    ThreespaceCommand("getTaredOrientationAsTwoVector", 4, "", "ffffff"),
+
+    #Weird
+    ThreespaceCommand("getDifferenceQuaternion", 5, "", "ffff"),
+
+    #Untared Orientation
+    ThreespaceCommand("getUntaredOrientation", 6, "", "ffff"),
+    ThreespaceCommand("getUntaredOrientationAsEulerAngles", 7, "", "fff"),
+    ThreespaceCommand("getUntaredOrientationAsRotationMatrix", 8, "", "fffffffff"),
+    ThreespaceCommand("getUntaredOrientationAsAxisAngles", 9, "", "ffff"),
+    ThreespaceCommand("getUntaredOrientationAsTwoVector", 10, "", "ffffff"),
+    
+    #Late orientation additions
+    ThreespaceCommand("getTaredTwoVectorInSensorFrame", 11, "", "ffffff"),
+    ThreespaceCommand("getUntaredTwoVectorInSensorFrame", 12, "", "ffffff"),
+
+    ThreespaceCommand("getPrimaryBarometerPressure", 13, "", "f"),
+    ThreespaceCommand("getPrimaryBarometerAltitude", 14, "", "f"),
+    ThreespaceCommand("getBarometerAltitude", 15, "b", "f"),
+    ThreespaceCommand("getBarometerPressure", 16, "b", "f"),
+
+    ThreespaceCommand("setOffsetWithCurrentOrientation", 19, "", ""),
+    ThreespaceCommand("resetBaseOffset", 20, "", ""),
+    ThreespaceCommand("setBaseOffsetWithCurrentOrientation", 22, "", ""),
+
+    ThreespaceCommand("getAllPrimaryNormalizedData", 32, "", "fffffffff"),
+    ThreespaceCommand("getPrimaryNormalizedGyroRate", 33, "", "fff"),
+    ThreespaceCommand("getPrimaryNormalizedAccelVec", 34, "", "fff"),
+    ThreespaceCommand("getPrimaryNormalizedMagVec", 35, "", "fff"),
+
+    ThreespaceCommand("getAllPrimaryCorrectedData", 37, "", "fffffffff"),
+    ThreespaceCommand("getPrimaryCorrectedGyroRate", 38, "", "fff"),
+    ThreespaceCommand("getPrimaryCorrectedAccelVec", 39, "", "fff"),
+    ThreespaceCommand("getPrimaryCorrectedMagVec", 40, "", "fff"),
+
+    ThreespaceCommand("getPrimaryGlobalLinearAccel", 41, "", "fff"),
+    ThreespaceCommand("getPrimaryLocalLinearAccel", 42, "", "fff"),
+
+    ThreespaceCommand("getTemperatureCelsius", 43, "", "f"),
+    ThreespaceCommand("getTemperatureFahrenheit", 44, "", "f"),
+
+    ThreespaceCommand("getMotionlessConfidenceFactor", 45, "", "f"),
+
+    ThreespaceCommand("correctRawGyroData", 48, "fffb", "fff"),
+    ThreespaceCommand("correctRawAccelData", 49, "fffb", "fff"),
+    ThreespaceCommand("correctRawMagData", 50, "fffb", "fff"),
+
+    ThreespaceCommand("getNormalizedGyroRate", 51, "b", "fff"),
+    ThreespaceCommand("getNormalizedAccelVec", 52, "b", "fff"),
+    ThreespaceCommand("getNormalizedMagVec", 53, "b", "fff"),
+
+    ThreespaceCommand("getCorrectedGyroRate", 54, "b", "fff"),
+    ThreespaceCommand("getCorrectedAccelVec", 55, "b", "fff"),
+    ThreespaceCommand("getCorrectedMagVec", 56, "b", "fff"),
+
+    ThreespaceCommand("enableMSC", 57, "", ""),
+    ThreespaceCommand("disableMSC", 58, "", ""),
+
+    ThreespaceCommand("formatSd", 59, "", ""),
+    ThreespaceCommand("__startDataLogging", 60, "", ""),
+    ThreespaceCommand("__stopDataLogging", 61, "", ""),
+
+    ThreespaceCommand("setDateTime", 62, "Bbbbbb", ""),
+    ThreespaceCommand("getDateTime", 63, "", "Bbbbbb"),
+
+    ThreespaceCommand("getRawGyroRate", 65, "b", "fff"),
+    ThreespaceCommand("getRawAccelVec", 66, "b", "fff"),
+    ThreespaceCommand("getRawMagVec", 67, "b", "fff"),
+
+    ThreespaceCommand("eeptsStart", 68, "", ""),
+    ThreespaceCommand("eeptsStop", 69, "", ""),
+    ThreespaceCommand("eeptsGetOldestStep", 70, "", "uuddffffffbbff"),
+    ThreespaceCommand("eeptsGetNewestStep", 71, "", "uuddffffffbbff"),
+    ThreespaceCommand("eeptsGetNumStepsAvailable", 72, "", "b"),
+    ThreespaceCommand("eeptsInsertGPS", 73, "dd", ""),
+    ThreespaceCommand("eeptsAutoOffset", 74, "", ""),
+
+    ThreespaceCommand("getStreamingLabel", 83, "b", "S"),
+    ThreespaceCommand("__getStreamingBatch", THREESPACE_GET_STREAMING_BATCH_COMMAND_NUM, "", "S"),
+    ThreespaceCommand("__startStreaming", 85, "", ""),
+    ThreespaceCommand("__stopStreaming", 86, "", ""),
+    ThreespaceCommand("pauseLogStreaming", 87, "b", ""),
+    
+    ThreespaceCommand("getTimestamp", 94, "", "U"),
+
+    ThreespaceCommand("tareWithCurrentOrientation", 96, "", ""),
+    ThreespaceCommand("setBaseTareWithCurrentOrientation", 97, "", ""),
+
+    ThreespaceCommand("resetFilter", 120, "", ""),
+    ThreespaceCommand("getNumDebugMessages", 126, "", "B"),
+    ThreespaceCommand("getOldestDebugMessage", 127, "", "S"),
+
+    ThreespaceCommand("beginPassiveAutoCalibration", 165, "b", ""),
+    ThreespaceCommand("getActivePassiveAutoCalibration", 166, "", "b"),
+    ThreespaceCommand("beginActiveAutoCalibration", 167, "", ""),
+    ThreespaceCommand("isActiveAutoCalibrationActive", 168, "", "b"),
+
+    ThreespaceCommand("getLastLogCursorInfo", 170, "", "US"),
+    ThreespaceCommand("getNextDirectoryItem", 171, "", "bsU"),
+    ThreespaceCommand("changeDirectory", 172, "S", ""),
+    ThreespaceCommand("openFile", 173, "S", ""),
+    ThreespaceCommand("closeFile", 174, "", ""),
+    ThreespaceCommand("fileGetRemainingSize", 175, "", "U"),
+    ThreespaceCommand("fileReadLine", 176, "", "S"),
+    ThreespaceCommand("__fileReadBytes", THREESPACE_FILE_READ_BYTES_COMMAND_NUM, "B", "S"), #This has to be handled specially as the output is variable length BYTES not STRING
+    ThreespaceCommand("deleteFile", 178, "S", ""),
+    ThreespaceCommand("setCursor", 179, "U", ""),
+    ThreespaceCommand("__fileStartStream", 180, "", "U"),
+    ThreespaceCommand("__fileStopStream", 181, "", ""),
+
+    ThreespaceCommand("getBatteryVoltage", 201, "", "f"),
+    ThreespaceCommand("getBatteryPercent", 202, "", "b"),
+    ThreespaceCommand("getBatteryStatus", 203, "", "b"),
+
+    ThreespaceCommand("getGpsCoord", 215, "", "dd"),
+    ThreespaceCommand("getGpsAltitude", 216, "", "f"),
+    ThreespaceCommand("getGpsFixState", 217, "", "b"),
+    ThreespaceCommand("getGpsHdop", 218, "", "f"),
+    ThreespaceCommand("getGpsSatellites", 219, "", "b"),
+
+    ThreespaceCommand("commitSettings", 225, "", ""),
+    ThreespaceCommand("__softwareReset", 226, "", ""),
+    ThreespaceCommand("__enterBootloader", 229, "", ""),
+
+    ThreespaceCommand("getButtonState", 250, "", "b"),
+]
+
+def threespaceCommandGet(cmd_num: int):
+    for command in _threespace_commands:
+        if command.info.num == cmd_num:
+            return command
+    return None
+
+def threespaceCommandGetInfo(cmd_num: int):
+    command = threespaceCommandGet(cmd_num)
+    if command is None: return None
+    return command.info
+
+def threespaceGetHeaderLabels(header_info: ThreespaceHeaderInfo):
+    order = []
+    if header_info.status_enabled:
+        order.append("status")
+    if header_info.timestamp_enabled:
+        order.append("timestamp")
+    if header_info.echo_enabled:
+        order.append("echo")
+    if header_info.checksum_enabled:
+        order.append("checksum")
+    if header_info.serial_enabled:
+        order.append("serial#")
+    if header_info.length_enabled:
+        order.append("len")
+    return order